adding optitrack node
temp after losing uncommitted
Merge branch 'refs/heads/optitrack' into optitrack1

Conflicts:
	build/CMakeCache.txt
	build/CMakeFiles/CMakeOutput.log
	build/CMakeFiles/CMakeSystem.cmake
	build/CMakeFiles/Makefile.cmake
	build/catkin_generated/setup_cached.sh
	build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake
	build/gtest/CMakeFiles/gtest.dir/flags.make
	build/gtest/CMakeFiles/gtest.dir/link.txt
	build/gtest/CMakeFiles/gtest_main.dir/flags.make
	build/gtest/CMakeFiles/gtest_main.dir/link.txt
	launch/turnertest.launch
	scripts/imageproc/robot_init.pyc
	scripts/imageproc/run_robot.pyc
initial test
simulate optitrack message types for testing
added optitrack sim to check out TransformStamped messages
set initial position as target location
optitrack simulator at 100 Hz to test flow
delay 25 ms to send control, 75 ms to poll getPIDdata()
initial publish of state- global hack
backup before new branch
class ok, but throttle not working so too many messages queue up
throttling messages- still queuing up
internal timing, not relying on published topic. Also subscribes to RunTime to control robot running
Merge remote-tracking branch 'refs/remotes/origin/optitrack2+publish+class' into optitrack2+publish
Merge branch 'refs/heads/optitrack2+publish' into optitrack2
mucked with retry on GetPIDdata
turnerbag2data  function, doc directory
Merge remote-tracking branch 'refs/remotes/origin/add_gyro' into optitrack2
tweaked controller gains, example run on floor